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Jan 7th, 2018
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  1. addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
  2. addf offset.0.update-feedback servo-thread
  3. addf motion-command-handler servo-thread
  4. addf motion-controller servo-thread
  5.  
  6.  
  7. addf scale.0 servo-thread #scales voltage to * 50
  8. addf lowpass.0 servo-thread #filters above scaled voltage
  9.  
  10.  
  11. addf pid.4.do-pid-calcs servo-thread #pid for the voltage loop
  12. addf scale.1 servo-thread #scales the voltage out of the pid to distance *.004
  13. addf lut5.0 servo-thread
  14. addf mux2.0 servo-thread
  15. addf mux4.0 servo-thread
  16. addf limit3.0 servo-thread #limits the scaled above to 20in/sec^2 and 2in/s
  17.  
  18.  
  19. addf offset.0.update-output servo-thread
  20.  
  21. addf pid.0.do-pid-calcs servo-thread
  22. addf pid.1.do-pid-calcs servo-thread
  23. addf pid.2.do-pid-calcs servo-thread
  24. addf pid.3.do-pid-calcs servo-thread
  25.  
  26.  
  27.  
  28.  
  29.  
  30. addf sum2.0 servo-thread
  31. addf sum2.1 servo-thread
  32. addf wcomp.0 servo-thread
  33. addf logic.0 servo-thread
  34.  
  35.  
  36. addf scale.2 servo-thread
  37. addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
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